U.S. patent application number 15/976700 was filed with the patent office on 2019-10-03 for processor and system for train assistance tracking and early-warning.
This patent application is currently assigned to Traffic Control Technology Co., Ltd. The applicant listed for this patent is Traffic Control Technology Co., Ltd. Invention is credited to Chunhai GAO.
Application Number | 20190300031 15/976700 |
Document ID | / |
Family ID | 63625134 |
Filed Date | 2019-10-03 |
United States Patent
Application |
20190300031 |
Kind Code |
A1 |
GAO; Chunhai |
October 3, 2019 |
PROCESSOR AND SYSTEM FOR TRAIN ASSISTANCE TRACKING AND
EARLY-WARNING
Abstract
The present disclosure provides a processor and a system for
train assistance tracking and early-warning. The processor includes
a synthesis analysis unit configured to perform a synthesis logic
analysis on information ahead of a train based on a preset logic
synthesis rule; and an identification unit configured to identify
an abnormal condition within a predetermined distance ahead of the
train according to an analysis result, wherein the abnormal
condition includes an appearance of any one or more of a signal
machine, an obstacle, or a track turnout.
Inventors: |
GAO; Chunhai; (Beijing,
CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Traffic Control Technology Co., Ltd |
Beijing |
|
CN |
|
|
Assignee: |
Traffic Control Technology Co.,
Ltd
Beijing
CN
|
Family ID: |
63625134 |
Appl. No.: |
15/976700 |
Filed: |
May 10, 2018 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01S 17/88 20130101;
G01S 2013/9328 20130101; G01S 17/931 20200101; G01S 13/91 20130101;
B61L 23/042 20130101; G01S 13/931 20130101; B61L 23/041 20130101;
G01S 2013/9323 20200101; G01S 17/08 20130101 |
International
Class: |
B61L 23/04 20060101
B61L023/04; G01S 13/91 20060101 G01S013/91; G01S 13/93 20060101
G01S013/93 |
Foreign Application Data
Date |
Code |
Application Number |
Apr 2, 2018 |
CN |
201810283128.1 |
Claims
1. A processor for train assistance tracking and early-warning,
comprising a synthesis analysis unit and an identification unit,
wherein: the synthesis analysis unit is configured to perform a
synthesis logic analysis on information ahead of a train based on a
preset logic synthesis rule; the identification unit is configured
to identify an abnormal condition within a predetermined distance
ahead of the train according to an analysis result, wherein the
abnormal condition includes an appearance of any one or more of a
signal machine, an obstacle, or a track turnout; the information
ahead of the train comprises at least two types of the following
information: first image information captured by a short-focus
camera within a short-focus visibility distance ahead of the train,
second image information captured by a long-focus camera within a
predetermined distance ahead of the train, and information scanned
by a laser radar within the predetermined distance ahead of the
train; and the short-focus visibility distance is a distance at
which the short-focus camera is able to identify a track outline,
and the predetermined distance is longer than the short-focus
visibility distance.
2. The processor of claim 1, wherein when the information ahead of
the train comprises the first image information, the second image
information and the scanned information, the preset logic synthesis
rule comprises: when each of the first image information, the
second image information, and the scanned information contains an
abnormal condition, the abnormal condition in the scanned
information is regarded as the abnormal condition within the
predetermined distance ahead of the train; or when only the first
image information and the second image information contain an
abnormal condition and the scanned information does not contain an
abnormal condition, the abnormal condition in the first image
information is regarded as the abnormal condition within the
predetermined distance ahead of the train.
3. The processor of claim 1, wherein the information ahead of the
train further comprises a positioning information within the
predetermined distance ahead of the train.
4. The processor of claim 3, wherein when the information ahead of
the train comprises the first image information, the second image
information, the scanned information and the positioning
information, the preset logic synthesis rule comprises: when each
of the first image information, the second image information, the
scanned information and the positioning information contains an
abnormal condition, the abnormal conditions in the scanned
information and the positioning information are regarded as the
abnormal conditions within the predetermined distance ahead of the
train; or when only the first image information, the second image
information and the scanned information contains an abnormal
condition and the positioning information does not contain an
abnormal condition, the abnormal condition in the scanned
information is regarded as the abnormal condition within the
predetermined distance ahead of the train.
5. A system for train assistance tracking and early-warning,
comprising an image collector, a laser radar and the processor of
claim 1 that are disposed in the train, wherein: the image
collector is configured to collect the first image information
within the short-focus visibility distance ahead of the train and
collect the second image information within the predetermined
distance ahead of the train, wherein the short-focus visibility
distance is a distance at which the short-focus camera is able to
identify a track outline and the predetermined distance is longer
than the short-focus visibility distance; the laser radar is
configured to collect the scanned information within the
predetermined distance ahead of the train; and the processor is
configured to perform the synthesis logic analysis on the first
image information, the second image information, and the scanned
information based on the preset logic synthesis rule, and identify
the abnormal condition within the predetermined distance ahead of
the train based on the analysis result.
6. The system of claim 5, further comprising a camera device and a
display, wherein: the camera device is configured to collect eye
information of a driver and send the collected result to the
processor; the processor is further configured to make a
determination about the collected result and send a corresponding
alarm information to the display when an eye blinking frequency of
the driver is greater than a preset blinking frequency threshold
and an eye-closed time is greater than a preset eye-closed time
threshold; the display is configured to send an alert message to
the driver in accordance with the alarm information; and the
display is further configured to display the abnormal condition
within the predetermined distance ahead of the train and display
the alert message corresponding to the abnormal condition.
7. The system of claim 6, further comprising a dispatch center
device configured to send out the alert message in accordance with
the alarm information to remind changing the driver at a next
station.
8. The system of claim 5, wherein the processor comprises the
identification unit configured to: determine that there is a single
track and a signal machine but no obstacle within the predetermined
distance ahead of the train, when the scanned information is normal
and the first image information and/or the second image information
only contain signal machine information; or determine that there is
a track turnout and a signal machine but no obstacle within the
predetermined distance ahead of the train, when the scanned
information is normal and the first image information and/or the
second image information only contain track turnout information and
the signal machine information; or determine that there is a single
track, but no signal machine and obstacle within the predetermined
distance ahead of the train, when the scanned information, the
first image information and the second image information are all
normal; or determine that there is a single track, a signal machine
and an obstacle within the predetermined distance ahead of the
train, when the scanned information contains obstacle information
and the first image information and/or the second image information
contain merely the signal machine information; or determine that
there is a track turnout, a signal machine and an obstacle within
the predetermined distance ahead of the train, when the scanned
information contains the obstacle information and the first image
information and/or the second image information contain merely the
track turnout information and the signal machine information; or
determine that there is a single track and an obstacle but no
signal machine within the predetermined distance ahead of the
train, when the scanned information contains the obstacle
information and both the first image information and the second
image information are normal.
9. The system of claim 8, wherein the processor further comprises
an operating unit configured to: in the case that the scanned
information contains the obstacle information and the first image
information and/or the second image information contain only the
signal machine information having color abnormal information,
determine a first distance between the obstacle and the train and a
second distance between the signal machine and the train, determine
a first safety distance as a shorter distance between the first
distance and the second distance, and send out a corresponding
first safety alert signal based on the color abnormal information
and the first safety distance; or in the case that the scanned
information contains the obstacle information and the first image
information and/or the second image information contain only the
track turnout information and the signal machine information having
color abnormal information, determine a first distance between the
obstacle and the train and a second distance between the signal
machine and the train, determine a second safety distance in a
direction of a switch position of the track turnout as a shorter
distance between the first distance and the second distance, and
send out a corresponding second safety alert signal based on a
first color abnormal information in the color abnormal information
and the second safety distance; or in the case that the scanned
information is normal and the first image information and/or the
second image information contain only the track turnout information
and normal signal machine information, determine a third safety
distance as the short-focus visibility distance or a distance from
the train to a center of the track turnout and send out a
corresponding third safety alert signal based on the third safety
distance.
10. The system of claim 5, further comprising a positioner,
wherein: the positioner is configured to determine positioning
information within the predetermined distance ahead of the train;
and the processor is further configured to perform a synthesis
logic analysis on the first image information, the second image
information, the scanned information, and the positioning
information based on a preset logic synthesis rule, and identify an
abnormal condition within the predetermined distance ahead of the
train according to an analysis result.
11. The system of claim 10, wherein the identification unit is
further configured to: determine that there is a single track, a
signal machine but no obstacle within the predetermined distance
ahead of the train, when the scanned information is normal and the
positioning information only contains the positioning information
of the signal machine; or determine that there is a track turnout,
a signal machine but no obstacle within the predetermined distance
ahead of the train, when the scanned information is normal and the
positioning information contains the positioning information of the
signal machine and the track turnout; or determine that there is a
single track, but no signal machine and obstacle within the
predetermined distance ahead of the train, when both the scanned
information and the positioning information are normal; or
determine that there is a single track, a signal machine and an
obstacle within the predetermined distance ahead of the train, when
the scanned information contains the obstacle information and the
positioning information only contains the positioning information
of the signal machine; or determine that there is a track turnout,
a signal machine and an obstacle within the predetermined distance
ahead of the train, when the scanned information contains the
obstacle information and the positioning information contains the
positioning information of the signal machine and the track
turnout; or determine that there is a single track, an obstacle but
no signal machine within the predetermined distance ahead of the
train, when the scanned information contains the obstacle
information and the positioning information is normal.
12. The system of claim 11, wherein the operating unit is further
configured to: in the case that the scanned information contains
the obstacle information, the positioning information contains only
the positioning information of the signal machine and the first
image information and/or the second image information contain the
signal machine information having color abnormal information,
determine a first distance between the obstacle and the train and a
second distance between the signal machine and the train, determine
a first safety distance as a shorter distance between the first
distance and the second distance, and send out a corresponding
first safety alert signal based on the first safety distance; or in
the case that the scanned information contains the obstacle
information, the positioning information contains the positioning
information of the signal machine and the track turnout and the
first image information and/or the second image information contain
the signal machine information having color abnormal information,
determine a first distance between the obstacle and the train and a
second distance between the signal machine and the train, determine
a second safety distance in a direction of a switch position of the
track turnout as a shorter distance between the first distance and
the second distance, and send out a corresponding second safety
alert signal based on a first color abnormal information in the
color abnormal information and the second safety distance; or in
the case that the scanned information is normal, the positioning
information contains the positioning information of the signal
machine and the track turnout and the first image information
and/or the second image information contain normal signal machine
information, determine a third safety distance as the short-focus
visibility distance or a distance from the train to a center of the
track turnout, and send out a corresponding third safety alert
signal based on the third safety distance.
13. The system of claim 7, wherein the obstacle information
comprises at least one of the following information: information
indicating that a length of a track outline in an image is less
than the short-focus visibility distance, information indicating
that the length of the track outline is less than the predetermined
distance, and reflection information in the scanned information.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application is based upon and claims priority to
Chinese Patent Application No. 201810283128.1, filed on Apr. 2,
2018, the content of which is incorporated herein by reference in
its entirety.
TECHNICAL FIELD
[0002] The present disclosure relates to the technical field of
rail transportation, and particularly to a processor and a system
for train assistance tracking and early-warning.
BACKGROUND
[0003] With the rapid development of rail transportation, it is
especially important that a rail transportation system is reliable
and its operation is efficient. However, existing trains are
generally not equipped with a safety early-warning system. Most of
them are operated by a driver at a fixed speed limit, so there are
a large number of unstable factors due to human operations,
resulting in low safety performance. Or only a simple early-warning
alert is provided and cannot give a timely warning to the driver,
so the safety performance is still very low. For example, some
engineering vehicles do not have an ATP (Automatic Train
Protection) device and can only be driven manually by the driver;
or even if rail transportation vehicles are equipped with an ATP
device, the current ATP device just has relatively simple functions
and a low recognition accuracy. Such an ATP device may often
wrongly identify obstacles that are not on the rail, or cannot give
a timely alarm to provide enough reaction time for the driver.
SUMMARY
[0004] Embodiments of the present disclosure provide a processor
and a system for train assistance tracking and early-warning.
[0005] In a first aspect, a processor for train assistance tracking
and early-warning is provided. The processor includes a synthesis
analysis unit and an identification unit, wherein the synthesis
analysis unit is configured to perform a synthesis logic analysis
on information ahead of a train based on a preset logic synthesis
rule; the identification unit is configured to identify an abnormal
condition within a predetermined distance ahead of the train
according to an analysis result, wherein the abnormal condition
includes an appearance of any one or more of a signal machine, an
obstacle, or a track turnout; the information ahead of the train
includes at least two types of the following information: first
image information captured by a short-focus camera within a
short-focus visibility distance ahead of the train, second image
information captured by a long-focus camera within a predetermined
distance ahead of the train, and information scanned by a laser
radar within the predetermined distance ahead of the train; and the
short-focus visibility distance is a distance at which the
short-focus camera is able to identify a track outline, and the
predetermined distance is longer than the short-focus visibility
distance.
[0006] In a first possible implementation of the first aspect, when
the information ahead of the train includes the first image
information, the second image information and the scanned
information, the preset logic synthesis rule includes: when each of
the first image information, the second image information, and the
scanned information contains an abnormal condition, the abnormal
condition in the scanned information is regarded as the abnormal
condition within the predetermined distance ahead of the train; or
when only the first image information and the second image
information contain an abnormal condition and the scanned
information does not contain an abnormal condition, the abnormal
condition in the first image information is regarded as the
abnormal condition within the predetermined distance ahead of the
train.
[0007] In a second possible implementation of the first aspect
including the above possible implementation, the information ahead
of the train further includes a positioning information within the
predetermined distance ahead of the train.
[0008] In a third possible implementation of the first aspect
including the above possible implementations, when the information
ahead of the train includes the first image information, the second
image information, the scanned information and the positioning
information, the preset logic synthesis rule includes: when each of
the first image information, the second image information, the
scanned information and the positioning information contains an
abnormal condition, the abnormal conditions in the scanned
information and the positioning information are regarded as the
abnormal conditions within the predetermined distance ahead of the
train; or when only the first image information, the second image
information and the scanned information contains an abnormal
condition and the positioning information does not contain an
abnormal condition, the abnormal condition in the scanned
information is regarded as the abnormal condition within the
predetermined distance ahead of the train.
[0009] In a second aspect, a system for train assistance tracking
and early-warning is provided. The system includes an image
collector, a laser radar and the processor of the first aspect that
are disposed in the train, wherein: the image collector is
configured to collect the first image information within the
short-focus visibility distance ahead of the train and collect the
second image information within the predetermined distance ahead of
the train, wherein the short-focus visibility distance is a
distance at which the short-focus camera is able to identify a
track outline and the predetermined distance is longer than the
short-focus visibility distance; the laser radar is configured to
collect the scanned information within the predetermined distance
ahead of the train; and the processor is configured to perform the
synthesis logic analysis on the first image information, the second
image information, and the scanned information based on the preset
logic synthesis rule, and identify the abnormal condition within
the predetermined distance ahead of the train based on the analysis
result.
[0010] In a first possible implementation of the second aspect, the
system further includes a camera device and a display, wherein: the
camera device is configured to collect eye information of a driver
and send the collected result to the processor; the processor is
further configured to make a determination about the collected
result and send a corresponding alarm information to the display
when an eye blinking frequency of the driver is greater than a
preset blinking frequency threshold and an eye-closed time is
greater than a preset eye-closed time threshold; the display is
configured to send an alert message to the driver in accordance
with the alarm information; and the display is further configured
to display the abnormal condition within the predetermined distance
ahead of the train and display the alert message corresponding to
the abnormal condition.
[0011] In a second possible implementation of the second aspect
including the above possible implementations, the system further
includes a dispatch center device configured to send out the alert
message in accordance with the alarm information to remind changing
the driver at a next station.
[0012] In a third possible implementation of the second aspect
including the above possible implementations, the processor
includes the identification unit configured to: determine that
there is a single track and a signal machine but no obstacle within
the predetermined distance ahead of the train, when the scanned
information is normal and the first image information and/or the
second image information only contain signal machine information;
or determine that there is a track turnout and a signal machine but
no obstacle within the predetermined distance ahead of the train,
when the scanned information is normal and the first image
information and/or the second image information only contain track
turnout information and the signal machine information; or
determine that there is a single track, but no signal machine and
obstacle within the predetermined distance ahead of the train, when
the scanned information, the first image information and the second
image information are all normal; or determine that there is a
single track, a signal machine and an obstacle within the
predetermined distance ahead of the train, when the scanned
information contains obstacle information and the first image
information and/or the second image information contain merely the
signal machine information; or determine that there is a track
turnout, a signal machine and an obstacle within the predetermined
distance ahead of the train, when the scanned information contains
the obstacle information and the first image information and/or the
second image information contain merely the track turnout
information and the signal machine information; or determine that
there is a single track and an obstacle but no signal machine
within the predetermined distance ahead of the train, when the
scanned information contains the obstacle information and both the
first image information and the second image information are
normal.
[0013] In a fourth possible implementation of the second aspect
including the above possible implementations, the processor further
includes an operating unit configured to: in the case that the
scanned information contains the obstacle information and the first
image information and/or the second image information contain only
the signal machine information having color abnormal information,
determine a first distance between the obstacle and the train and a
second distance between the signal machine and the train, determine
a first safety distance as a shorter distance between the first
distance and the second distance, and send out a corresponding
first safety alert signal based on the color abnormal information
and the first safety distance; or in the case that the scanned
information contains the obstacle information and the first image
information and/or the second image information contain only the
track turnout information and the signal machine information having
color abnormal information, determine a first distance between the
obstacle and the train and a second distance between the signal
machine and the train, determine a second safety distance in a
direction of a switch position of the track turnout as a shorter
distance between the first distance and the second distance, and
send out a corresponding second safety alert signal based on a
first color abnormal information in the color abnormal information
and the second safety distance; or in the case that the scanned
information is normal and the first image information and/or the
second image information contain only the track turnout information
and normal signal machine information, determine a third safety
distance as the short-focus visibility distance or a distance from
the train to a center of the track turnout and send out a
corresponding third safety alert signal based on the third safety
distance.
[0014] In a fifth possible implementation of the second aspect
including the above possible implementations, the system further
includes a positioner, wherein: the positioner is configured to
determine positioning information within the predetermined distance
ahead of the train; and the processor is further configured to
perform a synthesis logic analysis on the first image information,
the second image information, the scanned information, and the
positioning information based on a preset logic synthesis rule, and
identify an abnormal condition within the predetermined distance
ahead of the train according to an analysis result.
[0015] In a sixth possible implementation of the second aspect
including the above possible implementations, the identification
unit is further configured to: determine that there is a single
track, a signal machine but no obstacle within the predetermined
distance ahead of the train, when the scanned information is normal
and the positioning information only contains the positioning
information of the signal machine; or determine that there is a
track turnout, a signal machine but no obstacle within the
predetermined distance ahead of the train, when the scanned
information is normal and the positioning information contains the
positioning information of the signal machine and the track
turnout; or determine that there is a single track, but no signal
machine and obstacle within the predetermined distance ahead of the
train, when both the scanned information and the positioning
information are normal; or determine that there is a single track,
a signal machine and an obstacle within the predetermined distance
ahead of the train, when the scanned information contains the
obstacle information and the positioning information only contains
the positioning information of the signal machine; or determine
that there is a track turnout, a signal machine and an obstacle
within the predetermined distance ahead of the train, when the
scanned information contains the obstacle information and the
positioning information contains the positioning information of the
signal machine and the track turnout; or determine that there is a
single track, an obstacle but no signal machine within the
predetermined distance ahead of the train, when the scanned
information contains the obstacle information and the positioning
information is normal.
[0016] In a seventh possible implementation of the second aspect
including the above possible implementations, the operating unit is
further configured to: in the case that the scanned information
contains the obstacle information, the positioning information
contains only the positioning information of the signal machine and
the first image information and/or the second image information
contain the signal machine information having color abnormal
information, determine a first distance between the obstacle and
the train and a second distance between the signal machine and the
train, determine a first safety distance as a shorter distance
between the first distance and the second distance, and send out a
corresponding first safety alert signal based on the first safety
distance; or in the case that the scanned information contains the
obstacle information, the positioning information contains the
positioning information of the signal machine and the track turnout
and the first image information and/or the second image information
contain the signal machine information having color abnormal
information, determine a first distance between the obstacle and
the train and a second distance between the signal machine and the
train, determine a second safety distance in a direction of a
switch position of the track turnout as a shorter distance between
the first distance and the second distance, and send out a
corresponding second safety alert signal based on a first color
abnormal information in the color abnormal information and the
second safety distance; or in the case that the scanned information
is normal, the positioning information contains the positioning
information of the signal machine and the track turnout and the
first image information and/or the second image information contain
normal signal machine information, determine a third safety
distance as the short-focus visibility distance or a distance from
the train to a center of the track turnout, and send out a
corresponding third safety alert signal based on the third safety
distance.
[0017] In an eighth possible implementation of the second aspect
including the above possible implementations, wherein the obstacle
information includes at least one of the following information:
information indicating that a length of a track outline in an image
is less than the short-focus visibility distance, information
indicating that the length of the track outline is less than the
predetermined distance, and reflection information in the scanned
information.
BRIEF DESCRIPTION OF THE DRAWINGS
[0018] To illustrate technical solutions in one or more embodiments
of the present disclosure more clearly, a brief introduction on the
drawings which are needed in the description of the embodiments of
the present disclosure is given below. It is obvious that the
drawings described below are merely some embodiments of the present
disclosure. Other drawings may be obtained by those of ordinary
skill in the art without any creative effort in accordance with
these drawings.
[0019] FIG. 1 is a schematic block diagram of a processor for train
assistance tracking and early-warning according to an embodiment of
the present disclosure;
[0020] FIG. 2 is a schematic block diagram of a train assistance
tracking and early-warning system according to an embodiment of the
present disclosure;
[0021] FIG. 3 is a schematic diagram of an actual scene of a train
assistance tracking and early-warning system according to an
embodiment of the present disclosure;
[0022] FIG. 4 is a schematic diagram of identifying an obstacle, a
signal machine, and a track turnout according to an embodiment of
the present disclosure;
[0023] FIG. 5 is a schematic block diagram of a train assistance
tracking and early-warning system according to another embodiment
of the present disclosure;
[0024] FIG. 6 is a schematic diagram of identifying a track turnout
and a signal machine with positioning information according to
another embodiment of the present disclosure; and
[0025] FIG. 7 is a schematic diagram of identifying an obstacle
with a track outline according to an embodiment of the present
disclosure.
DETAILED DESCRIPTION
[0026] The features and exemplary embodiments of various aspects of
the present disclosure will be described in detail below. To make
the objectives, technical solutions and advantages of the present
application more apparent, the present application will be further
described below in detail with reference to the drawings and
embodiments. It should be understood that the specific embodiments
described herein are only configured to explain the present
application and are not configured to limit the present
application. To those skilled in the art, the present application
may be practiced without some of these specific details. The
following description of the embodiments is merely intended to
provide a better understanding of the present disclosure by
illustrating examples of the present disclosure.
[0027] It should be noted that relational terms such as first,
second and the like herein are only used to distinguish an entity
or operation from another entity or operation, and do not require
or imply these entities or operations have any such actual
relationship or order. Moreover, the terms "comprise", "include" or
any other variation thereof are intended to cover a non-exclusive
inclusion, such that a process, a method, an article or a device
that includes a series of elements includes not only those elements
but also includes other elements that are not explicitly listed, or
further includes elements inherent to such a process, method,
article or device. In the case of no more limitation, the element
defined by the phrase "include . . . " does not exclude that there
are other same elements existing in the process, the method, the
article or the device including the element.
[0028] It should be noted that the embodiments in the present
application and the features in the embodiments can be combined
with each other without conflict. The embodiments will be described
in detail below with reference to the accompanying drawings.
[0029] FIG. 1 shows a schematic block diagram of a processor 100
for train assistance tracking and early-warning according to an
embodiment of the present disclosure.
[0030] The processor 100 may include a synthesis analysis unit 110
and an identification unit 120.
[0031] The synthesis analysis unit 110 may be configured to perform
a synthesis logic analysis on information ahead of a train based on
a preset logic synthesis rule.
[0032] The identification unit 120 may be configured to identify an
abnormal condition within a predetermined distance ahead of the
train according to an analysis result, wherein the abnormal
condition includes an appearance of any one or more of a signal
machine, an obstacle, or a track turnout.
[0033] The information ahead of the train may include at least two
types of the following information: information of multiple first
images captured by a short-focus camera within a short-focus
visibility distance ahead of the train, information of multiple
second images captured by a long-focus camera within a
predetermined distance ahead of the train, and information scanned
by a laser radar within a predetermined distance ahead of the
train. The short-focus visibility distance refers to a distance at
which the short-focus camera can recognize a track outline. The
predetermined distance is longer than the short-focus visibility
distance.
[0034] It can be understood that, in the embodiment of the present
disclosure, for example, the processor 100 may be a Traffic
Collision Avoidance System (TCAS) host.
[0035] The information ahead of the train in the embodiment of the
present disclosure may include a variety of information, such as
the information of the first images captured by the short-focus
camera, the information of the second images captured by the
long-focus camera, and the information scanned by the laser radar.
It should be noted that the first images captured by the
short-focus camera are within the short-focus visibility distance
ahead of the train, the second images captured by the long-focus
camera are within the predetermined distance ahead of the train,
and the information scanned by the laser radar is within the
predetermined distance ahead of the train. For example, the
short-focus camera captures images within 100 meters ahead of the
train, the long-focus camera captures images within 270 meters
ahead of the train, and the Laser radar scans information within
270 meters ahead of the train. In addition, both the track outline
in the first images captured by the short-focus camera and the
track outline in the second images captured by the long-focus
camera are identified by using a deep learning method. In the
embodiment of the present disclosure, the long-focus camera
captures images at a relatively long distance and has a relatively
low precision, while the short-focus camera captures images at a
relatively short distance and has a relatively high precision.
[0036] In addition, according to the embodiment of the present
disclosure, in a normal situation, the long-focus camera has a
relatively long visibility distance, for example, in the case of a
single track, the visibility distance can be up to 300 meters to
350 meters. However, such a long distance may not be needed when
implementing train protection. For example, at a train speed of 80
km/h, according to a universal braking performance of the train,
the safety protection can be achieved within about 270 meters.
Therefore, when using the information of the images captured by the
long-focus camera, it is not necessary to use the information of
all the images within the long-focus visibility distance. It is
sufficient to just use the information of the images within the
predetermined distance. For example, the long-focus camera is able
to capture the images within the distance of 350 meters, but in the
embodiment, it is sufficient for the long-focus camera to just
capture the images within the distance of 270 meters. In this way,
the workload for processing the images can be reduced and the
accuracy of subsequent synthesis can be increased. Accordingly, the
predetermined distance herein refers to a distance at which the
safety protection can be fully achieved by the train. For example,
at the train speed of 80 km/h, according to the universal braking
performance of the train, the predetermined distance may be 270
meters.
[0037] Further, since the laser radar scans above the ground plane,
the track turnout cannot be identified. Also, since the laser radar
cannot recognize a color of the signal machine, it may be
impossible to use the laser radar to determine a change of the
signal machine. Thus, the laser radar can only be applied to scan
obstacles.
[0038] Then, in terms of determining obstacles, since the ranging
accuracy of the laser radar is much higher than that of the images
captured by the camera and the scanning frequency of the laser
radar is very high, the use of the laser radar can ensure that all
ranges within a predetermined distance can be scanned in a short
time without wrong or missed scan. In addition, because the laser
radar will be reflected back when being blocked and its speed is
almost at the speed of light, the time that the laser radar takes
to be reflected back within the predetermined distance is far less
than 0.1 seconds. During the travelling of the train, the distance
accuracy measured by the laser radar will be higher than that
measured by the camera shooting, so a greater accuracy can be
achieved by using the laser radar to scan obstacles.
[0039] In the embodiment of the present disclosure, an 80-line
laser radar is generally used. By use of the 80-line laser radar,
80 targets can be tracked simultaneously.
[0040] With the processor 100 of the present disclosure, a
synthesis logic analysis is performed on the information ahead of
the train based on a preset logic synthesis rule, and then an
abnormal condition within a predetermined distance ahead of the
train can be identified based on the analysis result. Firstly, the
short-focus camera can take the first images with a high accuracy,
so the driver can be informed of the road conditions ahead
accurately and the accuracy of identifying the road conditions
ahead can be improved. Secondly, the long-focus camera can take the
second images at a long distance, so it is possible to alert the
driver in advance and thus provide sufficient reaction time for the
driver. Thirdly, the laser radar with the high ranging accuracy
facilitates to accurately determine the obstacles ahead. Therefore,
with the combination of the three aspects, a timely alert can be
provided to the driver and the effect of safety protection can be
improved.
[0041] The following are two cases of the preset logic synthesis
rule when the information ahead of the train includes merely the
information of the multiple first images (referred to as "the first
image information" herein for the sake of simplicity), the
information of the multiple second images (referred to as "the
second image information" herein for the sake of simplicity), and
the scanned information.
[0042] In the first case, when an abnormal condition occurs in each
of the first image information, the second image information, and
the scanned information, the abnormal condition occurring in the
scanned information is regarded as the abnormal condition within
the predetermined distance ahead of the train.
[0043] In the second case, when only the first image information
and the second image information have an abnormal condition and the
scanned information does not have an abnormal condition, the
abnormal condition occurring in the first image information is
regarded as the abnormal condition within the predetermined
distance ahead of the train.
[0044] It can be understood that if there is obstacle information
in the scanned information, it can be determined that there is an
obstacle ahead; and if there is no obstacle information in the
scanned information, it can be determined that there is no obstacle
ahead. For example, the scanned information from the laser radar
indicates that there is an obstacle 80 meters ahead of the train,
and the first image information and/or the second image information
indicate that there is no obstacle ahead, or even the first image
information and/or the second image information indicate that there
is an obstacle 70 meters ahead of the train. In this case, it is
finally determined that there is an obstacle 80 meters ahead of the
train based on the scanned information. The obstacles to be scanned
by the laser radar can also include some barriers, such as corners,
tunnels, and so on.
[0045] In another embodiment, in addition to the information of the
multiple first images, the information of the multiple second
images, and the scanned information, the information ahead of the
train may further include positioning information within the
predetermined distance ahead of the train.
[0046] It should be noted that the positioning in the present
embodiment mainly determines position information of the track
turnout and/or the signal machine currently ahead of the train
based on some previously stored position information of the track
turnout and/or the signal machine.
[0047] The following are two cases of the preset logic synthesis
rule when the information ahead of the train includes the first
image information, the second image information, the scanned
information, and the positioning information.
[0048] In the first case, when an abnormal condition occurs in each
of the first image information, the second image information, the
scanned information and the positioning information, the abnormal
conditions occurring in the scanned information and the positioning
information are regarded as the abnormal conditions within the
predetermined distance ahead of the train.
[0049] In the second case, when only the first image information,
the second image information and the scanned information have an
abnormal condition and the positioning information does not have an
abnormal condition, the abnormal condition occurring in the scanned
information is regarded as the abnormal condition within the
predetermined distance ahead of the train.
[0050] In the embodiment of the present disclosure, firstly the
short-focus camera can take the first images with a high accuracy,
so the driver can be informed of the road conditions ahead
accurately and the accuracy of identifying the road conditions
ahead can be improved; secondly, the long-focus camera can take the
second images at a long distance, so it is possible to alert the
driver in advance and thus provide sufficient reaction time for the
driver; and thirdly, the laser radar with the high ranging accuracy
facilitates to accurately determine the obstacles ahead. In
addition to the above three types of information, the positioning
information is further used to undoubtedly determine the position
information of the track turnout and the signal machine that appear
ahead of the train. As a result, the error rate of identifying the
abnormal condition ahead can be significantly decreased, and thus
the effect of safety protection can be greatly improved.
[0051] An early-warning system according to an embodiment of the
present disclosure will be described in detail below with reference
to FIG. 2 to FIG. 7.
[0052] FIG. 2 shows a schematic block diagram of a train assistance
tracking and early-warning system 200 according to another
embodiment of the present disclosure. As shown in FIG. 2, the
early-warning system 200 includes an image collector 210, a laser
radar 220 and a processor 100 of the above embodiment that are
disposed on the train;
[0053] The image collector 210 is configured to collect information
of multiple first images within a short-focus visibility distance
ahead of the train and collect information of multiple second
images within a predetermined distance ahead of the train, wherein
the short-focus visibility distance refers to a distance at which a
short-focus camera can recognize a track outline and the
predetermined distance is longer than the short-focus visibility
distance.
[0054] The laser radar 220 is configured to collect scanned
information within the predetermined distance ahead of the
train;
[0055] The processor 100 is configured to perform a synthesis logic
analysis on the information of each first image, the information of
each second image, and the scanned information based on a preset
logic synthesis rule, and identify an abnormal condition within the
predetermined distance ahead of the train based on the analysis
result.
[0056] It can be understood that in the embodiment of the present
disclosure, the image collector 210 includes a short-focus camera
2101 and a long-focus camera 2102, wherein the short-focus camera
2101 captures the first image information within the short-focus
visibility distance ahead of the train and the long-focus camera
2102 captures the second image information within the predetermined
distance ahead of the train. The laser radar 220 collects the
scanned information within the predetermined distance ahead of the
train.
[0057] In the early-warning system 200, the first image information
and the second image information are respectively collected by the
short-focus camera 2101 and the long-focus camera 2102 and
preprocessed. The preprocessing is mainly to analyze and process
the first image information and the second image information
respectively. Specifically, the first image information is analyzed
to determine whether the first image information contains abnormal
information such as the obstacle information, the signal machine
information, or the track turnout information and then the abnormal
information is recorded. Likewise, the second image information is
analyzed to determine whether the second image information contains
abnormal information such as the obstacle information, the signal
machine information, or the track turnout information and then the
abnormal information is recorded.
[0058] Finally, the recorded abnormality information is sent to the
processor 100, so that the processor 100 can perform direction
latch associated with the signal machine and visibility
preprocessing according to the first image information and the
second image information. After the preprocessing, the synthesis
logic analysis is performed on the information of each first image,
the information of each second image, and the scanned information
based on the preset logic synthesis rule, and the abnormal
condition within the predetermined distance ahead of the train is
identified based on the analysis result.
[0059] The following is a further explanation of the direction
latch associated with the signal machine and the visibility
preprocessing.
[0060] Firstly, it may be analyzed whether the information of each
first image, the information of each second image, and the scanned
information contain the abnormal information. The abnormal
information includes one or more of the obstacle information, the
track turnout information, or the signal machine information. Then,
when the signal machine information appears, the current signal
machine information may be recorded respectively. The current
signal machine information will not change until a next signal
machine shows an abnormal color.
[0061] In the embodiment of the present disclosure, direction
information of the train may be latched in accordance with the
color of the signal machine. Particularly, the direction
information may be latched when it is determined that the signal
machine information appears. Generally, when the train passes the
current signal machine, the color of the current signal machine may
be latched. For example, assuming that the color of the current
signal machine is green, then the color of the current signal
machine is recorded as green for a certain period of time. When the
train travels to a next signal machine and the next signal machine
appears in other colors (e.g. yellow or red) but not green, the
currently recorded color information of the signal machine may be
changed. Alternatively, if there is no signal machine in the
captured images for a certain period of time after the signal
machine is present in the image currently captured by the camera,
it may be assumed that the captured images contain a signal machine
having a same color as the previously present signal machine. For
example, the current signal machine is green, and there is no
signal machine for a certain period of time. In this case, the
color information of the signal machine is kept as green, and will
not be updated to a color of a new signal machine until the new
signal machine appears in a newly captured image and has a color
other than green. This is to avoid failing to capture a signal
machine due to instability of the image shooting or because of the
signal machine in front of the turnout first disappearing from the
image to be captured when the train passes by the turnout. For
example, when the train passes by the turnout, the signal machine
first enters a blind area of the camera, causing the camera fails
to capture the signal machine. However, at this time, the train may
not pass through the signal machine and the turnout, and the train
needs to select the direction of the turnout or determine a
distance according to the color of the signal machine. So it may be
necessary to record the current signal machine information, i.e.,
keep the recorded signal machine information is still the current
signal information.
[0062] Therefore, through the direction latch in the embodiment of
the present disclosure, it is possible to avoid the blind area of
the image shooting and identify all the road conditions.
[0063] The visibility preprocessing is to preprocess a safety
distance, i.e., determine the safety distance based on the color of
the signal machine. As an example, when the signal machine appears
in the image taken by the short-focus camera and the color of the
signal machine is red, it is necessary to determine the safety
distance according to the current status of the short-focus
camera.
[0064] For example, assuming that there is currently a single track
and the signal machine is green, it shows that the road ahead is
safe to go straight, and thus the safety distance determined by the
short-focus camera is the short-focus visibility distance, e.g., if
the short-focus visibility distance is 100 meters, then the safety
distance is 100 meters. The safety distance determined by the
long-focus camera is the predetermined distance of 300 meters.
[0065] For example, when there is currently a single track and the
signal machine is red, the safety distance determined according to
the image information captured by the short-focus camera is the
distance from the train to the signal machine. Assuming that the
signal machine 100 meters ahead of the short-focus camera is red,
then the safety distance determined by the short-focus camera is
100 meters. Likewise, assuming that the signal machine 250 meters
ahead of the long-focus camera is red, then the safety distance
determined by the long-focus camera is 250 meters. However, when
there is currently a track turnout, then it may be needed to
determine the safety distance according to the color of the signal
machine beside the track turnout. If the color of the signal
machine is yellow, it indicates that the track turnout is in a
switch position. If the color of the signal machine is green, it
indicates that the track turnout is in a normal position. If the
color of the signal machine is green, then the safety distance may
be determined as a distance from the train to a center of a track
turnout or the short-focus visibility distance depending on
different track turnouts.
[0066] It should be noted that, in the embodiment of the present
disclosure, the track turnout being in the normal position means
that the train travels along a fixed line, and the track turnout
being in the switch position means that the train does not travel
along the fixed line.
[0067] With the early-warning system 200 of the present disclosure,
a synthesis logic analysis is performed on the information ahead of
the train based on a preset logic synthesis rule, and then an
abnormal condition within a predetermined distance ahead of the
train can be identified based on the analysis result. Firstly, the
short-focus camera can take the first images with a high accuracy,
so the driver can be informed of the road conditions ahead
accurately and the accuracy of identifying the road conditions
ahead can be improved. Secondly, the long-focus camera can take the
second images at a long distance, so it is possible to alert the
driver in advance and thus provide sufficient reaction time for the
driver. Thirdly, the laser radar with the high ranging accuracy
facilitates to accurately determine the obstacles ahead. Therefore,
with the combination of the three aspects, a timely alert can be
provided to the driver and the effect of safety protection can be
improved.
[0068] FIG. 3 is a schematic diagram showing an installation of an
early-warning system in a driver's cab according to an embodiment
of the present disclosure.
[0069] The early-warning system 200 may also include a camera
device 230 and a display 240.
[0070] The camera device 230 is configured to collect eye
information of the driver and send the collected result to the
processor.
[0071] The processor 100 is further configured to make a
determination about the collected result. When a driver's eye
blinking frequency is greater than a default blinking frequency
threshold, and an eye-closed time is greater than a default
eye-closed time threshold, a corresponding alarm information is
sent to the display 240;
[0072] The display 240 is configured to send an alert message to
the driver in accordance with the alarm information.
[0073] The display 240 is also used to display the abnormal
condition within the predetermined distance ahead of the train and
display the alert message corresponding to the abnormal
condition.
[0074] As shown in FIG. 3, the laser radar 220, the short-focus
camera 2101, and the long-focus camera 2102 are all disposed in
front of a bridge, and the display 240 is disposed on the right
side of the bridge so that the driver can clearly view the alert
message through the display 240. The processor 100 (TCAS host) is
installed at the rear of the cab. In addition to processing the
first image information, the second image information, and the
scanned information, the processor 100 also processes the driver's
eye information transmitted by the camera device 230, and
determines the driver's eye blinking frequency and the eye closed
time. When the driver is fatigued, the driver's eye blinking
frequency will be decreased, and the eye closed time will become
longer. For example, during normal driving, the driver's eye
blinking frequency may be 10 times per minute, and the eye closed
time may be 2 seconds each time. When the driver is fatigued, the
driver's eye blinking frequency may be 3 times per minute and the
eye closed time may be 30 seconds each time.
[0075] Optionally, in another embodiment, the early-warning system
200 may further include a dispatch center device 250.
[0076] The dispatch center device 250 is configured to send out an
alert message in accordance with the alarm information sent by the
processor 100, so as to remind changing the driver at the next
station.
[0077] Optionally, an explanation of the processor 100 is given
below. The processor 100 may include an identification unit 101.
FIG. 4 is a schematic diagram of an identification of an obstacle,
a signal machine, and a track turnout based on image information
according to another embodiment of the present disclosure. It may
be identified whether there is a single track, a track turnout, a
signal machine, or an obstacle. Specifically, the identification
may be based on the scanned information, the first image
information, the second image information, and the track turnout
information.
[0078] The operations performed by the identification unit 101 will
be explained by considering the following six cases.
[0079] In the first case, at 410, when the scanned information is
normal and the first image information and/or the second image
information only contain the signal machine information, it is
determined that there is a single track and a signal machine but no
obstacle within the predetermined distance ahead of the train.
[0080] In the embodiment of the present disclosure, after the
preprocessing analysis, the image information captured by the
short-focus camera and the image information captured by the
long-focus camera are synthetically processed. When the scanned
information is normal and the image information captured by the
short-focus camera and/or the image information captured by the
long-focus camera only contain the signal machine information but
no track turnout information and obstacle information, it can be
identified that there is a single track and a signal machine within
a predetermined distance ahead of the train.
[0081] If the image information captured by the short-focus camera
contains the signal machine information, then it means that there
is a single track within the visibility distance of the short-focus
camera and there is a signal machine; if the image information
captured by the short-focus camera does not contain the signal
machine information but the image information captured by the
long-focus camera contains the signal machine information, then it
means that there is no signal machine within the short-focus
visibility distance but there must be a signal machine within the
predetermined distance.
[0082] For example, when the first image information captured by
the short-focus camera indicates that there is a signal light
within 50 meters ahead of the train, it can be determined that
there is a signal light within 50 meters ahead of the current
train. If the first image information captured by the short-focus
camera indicates that there is no signal machine information within
100 meters ahead of the train but the second image information
captured by the long-focus camera indicates that there is the
signal machine information within 200 meters ahead of the train,
then it means that there is no signal machine within 100 meters
ahead of the train but there is a signal machine within 200 meters
ahead of the train.
[0083] In the second case, at 420, when the scanned information is
normal and the first image information and/or the second image
information only contain the track turnout information and the
signal machine information, it is determined that there is a track
turnout and a signal machine but no obstacle within the
predetermined distance ahead of the train.
[0084] It can be understood that in the embodiment of the present
disclosure, the normal scan information indicates that there is no
obstacle. When both the first image information captured by the
short-focus camera and the second image information captured by the
long-focus camera contain the track turnout information and the
signal machine information, it is determined that there is a track
turnout and a signal machine within the short-focus visibility
distance. For example, the image information captured by the
short-focus camera indicates that there is a track turnout and a
signal machine within 50 meters ahead, and the image information
captured by the long-focus camera indicates that there is a track
switch and a signal machine within 60 meters ahead. In this case,
it is determined that there is a track turnout and a signal machine
within the short-focus visibility distance of 50 meters.
[0085] In addition, it should be noted that there must be a signal
machine when a track turnout appears, but there may not be a track
turnout when a signal machine appears. The reason is that it is
generally necessary to place the signal machine next to the track
turnout in order to remind the driver to drive towards the normal
or switch position of the turnout. If the first image information
captured by the short-focus camera does not contain the track
turnout information and the signal machine information but the
second image information captured by the long-focus camera contains
the track turnout information and the signal machine information,
it may be determined that there is the track turnout information
and the signal machine information within the predetermined
distance. For example, the first image information captured by the
short-focus camera indicates that there is no track turnout and
signal machine within 50 meters ahead, but the image information
captured by the long-focus camera indicates that there is a track
switch and a signal machine within 150 meters ahead. In this case,
it may be determined that there is a track turnout and a signal
machine within the predetermined distance of 150 meters.
[0086] In the third case, at 430, when the scanned information, the
first image information, and the second image information are all
normal, it may be determined that there is a single track, but no
signal machine and obstacle within the predetermined distance ahead
of the train.
[0087] In the fourth case, at 440, when the scanned information
contains the obstacle information, and the first image information
and/or the second image information contain merely the signal
machine information, it may be determined that there is a single
track, a signal machine and an obstacle within the predetermined
distance ahead of the train.
[0088] For example, when the scanned information contains the
obstacle information, it may be determined that there is an
obstacle. If the first image information captured by the
short-focus camera and/or the second image information captured by
the long-focus camera contain the signal machine information, it
may be determined that there is a signal machine. But the signal
machine may be in front of the obstacle; or the signal machine may
be behind the obstacle. For example, the signal machine may be 50
meters ahead of the train and the obstacle may be 80 meters ahead
of the train; or the obstacle may be 80 meters ahead of the train
and the signal machine may be 150 meters ahead of the train; or the
signal machine may be 120 meters ahead of the train and the
obstacle may be 150 meters ahead of the train.
[0089] In the fifth case, at 450, when the scanned information
contains the obstacle information, and the first image information
and/or the second image information contain merely the track
turnout information and the signal machine information, it may be
determined that there is a track turnout, a signal machine and an
obstacle within the predetermined distance ahead of the train.
[0090] For example, when the scanned information contains the
obstacle information, it may be determined that there is an
obstacle. If the first image information captured by the
short-focus camera and/or the second image information captured by
the long-focus camera contain the track turnout information and the
signal machine information, it may be determined that there is a
track turnout and a signal machine. But the signal machine and the
track turnout may be in front of the obstacle; or the signal
machine and the track turnout may be behind the obstacle. For
example, the signal machine and the track turnout may be 50 meters
ahead of the train and the obstacle may be 80 meters ahead of the
train; or the obstacle may be 80 meters ahead of the train and the
signal machine and the track turnout may be 150 meters ahead of the
train; or the signal machine and the track turnout may be 120
meters ahead of the train and the obstacle may be 150 meters ahead
of the train.
[0091] In the sixth case, at 460, when the scanned information
contains the obstacle information, and both the first image
information and the second image information are normal, it may be
determined that there is a single track and an obstacle but no
signal machine within the predetermined distance ahead of the
train.
[0092] In the embodiment of the present disclosure, the safety
protection of the train is improved by performing the
identification with the combination of the short-focus camera, the
long-focus camera, and the laser radar.
[0093] Optionally, the processor 100 may further include an
operating unit 102. Three different ways in which the operating
unit 102 operates are described below.
[0094] In the first way, when the scanned information contains the
obstacle information and the first image information and/or the
second image information contain only the signal machine
information having color abnormal information, a first distance
between the obstacle and the train and a second distance between
the signal machine and the train may be determined, a first safety
distance may be determined as a shorter distance between the first
distance and the second distance, and a corresponding first safety
alert signal may be sent out based on the color abnormal
information and the first safety distance.
[0095] For example, in the embodiment of the present disclosure,
there may be an obstacle 100 meters (i.e. the first distance) ahead
of the train and a signal machine of a red color 150 meters (i.e.
the second distance) ahead of the train. In this case, the first
safety distance can be determined as 100 meters which is the
distance from the train to the obstacle. As another example, if
there is a signal machine 100 meters ahead of the train and an
obstacle 150 meters ahead of the train, the first safety distance
can be determined as 100 meters which is the distance from the
train to the signal machine.
[0096] In the second way, when the scanned information contains the
obstacle information and the first image information and/or the
second image information contain only the track turnout information
and the signal machine information having color abnormal
information, a first distance between the obstacle and the train
and a second distance between the signal machine and the train may
be determined, a second safety distance in the direction of the
switch position of the track turnout may be determined as a shorter
distance between the first distance and the second distance, and a
corresponding second safety alert signal may be sent out based on a
first color abnormal information in the color abnormal information
and the second safety distance.
[0097] It can be understood that in the embodiment of the present
disclosure, there may be an obstacle appearing after the track
turnout. For example, there may be a track turnout 100 meters ahead
of the train and an obstacle 150 meters ahead of the train. In this
case, when the signal machine at the track turnout is red or
yellow, the train needs to stop or go towards the switch position
of the track turnout, and the second safety distance can be
determined as 100 meters which is the distance from the signal
machine to the train. Alternatively, there may be an obstacle
appearing before the track turnout. For example, when there is an
obstacle 100 meters ahead of the train and a track turnout 150
meters ahead of the train, the second safety distance can be
determined as 100 meters which is the distance from the obstacle to
the train.
[0098] In the third way, when the scanned information is normal and
the first image information and/or the second image information
contain only the track turnout information and normal signal
machine information, a third safety distance can be determined as
the short-focus visibility distance, or the third safety distance
can be determined as the distance from the train to the center of
the track turnout. Then a corresponding third safety alert signal
may be sent out based on the third safety distance.
[0099] It can be understood that, in the embodiment of the present
disclosure, if there is no obstacle and the signal machine is
currently green, then it indicates that the road ahead is safe for
the train to go straight, that is, the short-focus visibility
distance or the distance from the train to the center of the track
turnout is the third safety distance.
[0100] In another embodiment, as shown in FIG. 5, an early-warning
system 200 including a positioner 260 is provided according to
another embodiment of the present disclosure. The positioner 260 is
used to determine positioning information within the predetermined
distance ahead of the train. Given the positioning information, the
processor 100 may be configured to perform a synthesis logic
analysis on the first image information, the second image
information, the scanned information, and the positioning
information based on the preset logic synthesis rule, and identify
the abnormal condition within the predetermined distance ahead of
the train according to the analysis result.
[0101] Alternatively, given the positioning information, the
identification unit 101 may operate in the following six different
cases. FIG. 6 is a schematic diagram of identifying a track turnout
and a signal machine with positioning information according to
another embodiment of the present disclosure. Specifically, the
identification of the single track, the track turnout, the signal
machine and the obstacle may be performed based on the positioning
information, the scanned information, the first image information,
the second image information, and the track turnout
information.
[0102] In the first case, at 601, when the scanned information is
normal and the positioning information only contains the
positioning information of a signal machine, it may be determined
that there is a single track, a signal machine but no obstacle
within the predetermined distance ahead of the train.
[0103] It can be understood that the normal scanned information
indicates that there is no obstacle, the positioning information
containing only the positioning information of the signal machine
indicates that there is only the signal machine, and no track
turnout indicates that there is the single track, the signal
machine but no obstacle ahead of the train.
[0104] In the second case, at 602, when the scanned information is
normal and the positioning information contains the positioning
information of a signal machine and a track turnout, it may be
determined that there is a track turnout, a signal machine but no
obstacle within the predetermined distance ahead of the train.
[0105] It can be understood that the normal scanned information
indicates that there is no obstacle, the positioning information
containing the positioning information of the signal machine and
the track turnout indicates that there is the signal machine and
the track turnout ahead.
[0106] In the third case, at 603, when both the scanned information
and the positioning information are normal, it may be determined
that there is a single track but no signal machine and obstacle
within the predetermined distance ahead of the train.
[0107] It can be understood that both the scanned information and
the positioning information being normal indicates that there is
none of the track turnout, the signal machine, and the
obstacle.
[0108] In the fourth case, at 604, when the scanned information
contains the obstacle information and the positioning information
only contains the positioning information of a signal machine, it
may be determined that there is a single track, a signal machine
and an obstacle within the predetermined distance ahead of the
train.
[0109] It can be understood that the scanned information containing
the obstacle information indicates that there is an obstacle ahead
of the train, and the positioning information containing only the
positioning information of the signal machine indicates that there
is a signal machine ahead.
[0110] In the fifth case, at 605, when the scanned information
contains the obstacle information and the positioning information
contains the positioning information of a signal machine and a
track turnout, it may be determined that there is a track turnout,
a signal machine and an obstacle within the predetermined distance
ahead of the train.
[0111] In the sixth case, at 606, when the scanned information
contains the obstacle information and the positioning information
is normal, it may be determined that there is a single track, an
obstacle but no signal machine within the predetermined distance
ahead of the train.
[0112] Given the positioning information, the operating unit 102
may perform further operations to determine the safety distance in
three ways as follows.
[0113] In the first way, when the scanned information contains the
obstacle information, the positioning information contains only the
positioning information of the signal machine and the first image
information and/or the second image information contain the signal
machine information having color abnormal information, a first
distance between the obstacle and the train and a second distance
between the signal machine and the train may be determined, a first
safety distance may be determined as a shorter distance between the
first distance and the second distance, and a corresponding first
safety alert signal may be sent out based on the first safety
distance.
[0114] It can be understood that the scanned information containing
the obstacle information indicates that there is an obstacle ahead
of the train, and the positioning information containing only the
positioning information of the signal machine indicates that there
is a signal machine ahead. When the first image information and/or
the second image information contain the signal machine information
having the color abnormal information, it indicates that the color
of the signal machine is red or yellow. For example, in the
embodiment of the present disclosure, there may be an obstacle 100
meters (i.e. the first distance) ahead of the train and a signal
machine of a red color 150 meters (i.e. the second distance) ahead
of the train. In this case, the first safety distance can be
determined as 100 meters which is the distance from the train to
the obstacle. As another example, if there is a signal machine 100
meters ahead of the train and an obstacle 150 meters ahead of the
train, the first safety distance can be determined as 100 meters
which is the distance from the train to the signal machine.
[0115] In the second way, when the scanned information contains the
obstacle information, the positioning information contains the
positioning information of the signal machine and the track turnout
and the first image information and/or the second image information
contain the signal machine information having color abnormal
information, a first distance between the obstacle and the train
and a second distance between the signal machine and the train may
be determined, a second safety distance in the direction of the
switch position of the track turnout may be determined as a shorter
distance between the first distance and the second distance, and a
corresponding second safety alert signal may be sent out based on a
first color abnormal information in the color abnormal information
and the second safety distance.
[0116] It can be understood that in the embodiment of the present
disclosure, there may be an obstacle appearing after the track
turnout. For example, there may be a track turnout 100 meters ahead
of the train and an obstacle 150 meters ahead of the train. In this
case, when the signal machine at the track turnout is red or
yellow, the train needs to stop or go towards the switch position
of the track turnout, and the second safety distance can be
determined as 100 meters which is the distance from the signal
machine to the train. Alternatively, there may be an obstacle
appearing before the track turnout. For example, when there is an
obstacle 100 meters ahead of the train and a track turnout 150
meters ahead of the train, the second safety distance can be
determined as 100 meters which is the distance from the obstacle to
the train.
[0117] In the third way, when the scanned information is normal,
the positioning information contains the positioning information of
the signal machine and the track turnout and the first image
information and/or the second image information contain normal
signal machine information, a third safety distance can be
determined as the short-focus visibility distance, or the third
safety distance can be determined as the distance from the train to
the center of the track turnout. Then a corresponding third safety
alert signal may be sent out based on the third safety
distance.
[0118] It can be understood that, in the embodiment of the present
disclosure, if there is no obstacle and the signal machine is
currently green, then it indicates that the road ahead is safe for
the train to go straight, that is, the short-focus visibility
distance or the distance from the center of the track turnout is
the third safety distance.
[0119] According to the above-described embodiments, the
short-focus camera, the long-focus camera, the laser radar, and the
map positioning are to be used. Using the map positioning, it is
possible to determine whether there is a signal machine or a track
turnout ahead very accurately, and there is no risk of image errors
or scanning errors. In addition, according to the images captured
by the long-focus camera, the driver can be reminded in advance to
give the driver sufficient response time and thus reduce the risk
of unresponsiveness. Also, the information scanned by the laser
radar can be used to accurately determine the distance to the
obstacle ahead and provide the driver with accurate distance
information, so that the driver can make corresponding operations
according to the distance information and the effect of safety
protection can be improved. At the same time, according to the
images taken by the short-focus camera, the road conditions ahead
of the driver can be shown to the driver more clearly, and the
accuracy of identifying the road conditions ahead can be
increased.
[0120] For all of the foregoing embodiments, as shown in FIG. 7, it
should be further noted that the obstacle information may include
at least one of the following information: information indicating
that a length of a track outline in an image is less than the
short-focus visibility distance and information indicating that the
length of the track outline is less than the predetermined
distance.
[0121] It can be understood that when the obstacle is a vehicle,
the obstacle can directly be determined as the vehicle by the way
of deep learning. But if the obstacle is some other item, it may be
necessary to make the determination according to the obstacle
outline in the image. For example, assuming the visibility of a
short-focus image is 100 meters, if there is no obstacle, the
continuous track outline is 100 meters; but if there is an obstacle
on the track, then the track outline in the image taken by the
short-focus camera or in the image taken by the long-focus camera
will be blocked and thus the continuous track outline is less than
100 meters. With reference to FIG. 7, the continuous track outline
701 and the obstacle outline 702 are illustrated.
[0122] The following is an explanation of the signal machine
information and the track turnout information as mentioned in the
foregoing embodiments.
[0123] The signal machine information may include:
[0124] 1. Color of the signal machine (0: no light, 01: green
light, 02: yellow light, 03: red light);
[0125] 2. Identifier (id) of the signal machine (Number); and
[0126] 3. Position information of the signal machine (01 means the
signal machine is on the left side of the track, and 02 means the
signal machine is on the right side of the track).
[0127] The track turnout information may include:
[0128] 4. The distance to the heart (i.e. intersection point) of
the track turnout;
[0129] 5. Identifier (id) of the track turnout(Number);
[0130] 6. The track line is a single track (1: a single track
without a track turnout), a normal position path (3: a track
turnout with a straight position), or a switch position path (2: a
track turnout with a switch position); and
[0131] 7. An obstacle at the end of the track line is a train or
not (0X55: Yes, 0XAA: No).
[0132] It should be understood that the present application is not
limited to the specific configurations and processes described
above and shown in the figures. For the sake of conciseness, a
detailed description of known methods is omitted here. In the above
described embodiments, several specific steps have been described
and illustrated as examples. However, the process in the present
disclosure is not limited to the described and illustrated specific
steps, and those skilled in the art can make various changes,
modifications, and additions or change the order between steps
after understanding the spirit of the present disclosure.
[0133] The functional blocks shown in the block diagrams described
above may be implemented as hardware, software, firmware, or a
combination thereof. When implemented in hardware, it may be, for
example, an electronic circuit, an application specific integrated
circuit (ASIC), a suitable firmware, a plug-in, a function card,
and the like. When implemented in software, the elements of the
present disclosure are programs or code segments that are used to
perform the required tasks. The programs or code segments may be
stored on a machine-readable medium or transmitted over a
transmission medium or communication link via a data signal carried
in a carrier wave. The "machine-readable medium" may include any
medium that is capable of storing or transmitting information.
Examples of machine-readable media include an electronic circuitry,
a semiconductor memory device, a ROM, a flash memory, an erasable
ROM (EROM), a floppy disk, a CD-ROM, an optical disk, a hard disks,
fiber optic media, a radio frequency (RF) link, and the like. The
code segments may be downloaded via a computer network such as the
Internet, an intranet or the like.
[0134] It should also be noted that the exemplary embodiments
mentioned in the present disclosure describe some methods or
systems based on a series of steps or devices. However, the present
application is not limited to the order of the above steps, that
is, the steps may be performed in the order mentioned in the
embodiments, or may be different from the order in the embodiment,
or several steps may be simultaneously performed.
[0135] The foregoing descriptions are merely specific
implementations of the present disclosure. Those skilled in the art
can clearly understand that, for the convenience and conciseness of
the description, the specific working processes of the
above-described systems, modules and units may refer to the
foregoing method embodiments. The corresponding process in this
article is not described here. It should be understood that the
scope of protection of the present disclosure is not limited
thereto, and any person skilled in the art can easily conceive
various equivalent modifications or replacements within the
technical scope disclosed by the present disclosure, and these
modifications or replacements should be covered within the scope of
the present application.
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